safe intersection crossing for pedestrians with disabilities pdfs/7c... · monitor crossing...
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Safe Intersection Crossing for
Pedestrians with DisabilitiesStephen F. Smith
The Robotics Institute
• Project Objective: Develop
a smartphone application
that allows pedestrians to
□interact directly with the
intersection and
□actively influence traffic
signals for safe and
efficient crossing
Safe Intersection Crossing
• Use personalized crossing constraints to set
crossing duration
• Monitor crossing progress and extend green
as needed
• Use route information to anticipate arrival
and streamline crossing
• Adjust green to help make bus connections
Target Capabilities
Technical Approach
• Use “connected vehicle”
technology to enable
pedestrian to communicate
□ Couple DSRC “sleeve” w/
iPhone to produce device
□Integrate with smart traffic
signal system ( )
Vol. I - Connecting Pedestrians with Disabilities to Adaptive Signal Control for Safe Crossing and Enhanced Mobility Intersection
Carnegie Mellon University
1
Part D – Vision
This project will connect pedestrian travelers with disabilities to
the traffic signal infrastructure (and by extension to nearby
connected vehicles), and use this connectivity to develop assistive
services for safe intersection crossing and increased traveler
mobility. These services will allow pedestrians to actively
influence traffic signal control decisions through communication
of personalized crossing intentions and constraints to the traffic
signal infrastructure, and to receive real-time intersection status
information that supports movement through the intersection.
Access to these services will be provided through a DSRC-
equipped smartphone, using an accessible user interface. For
purposes of this project, we will use a contemporary smartphone
that is coupled to an Arada Locomate ME device (pictured) as
the mobile platform for delivering our assistive services. The Locomate ME is a mobile DSRC device
with embedded applications for integrating with smartphones. It is integrated with GPS (better than 1
meter accuracy) and Bluetooth, and is physically designed as a smartphone “sleeve”. As technology and
standards evolve, it is reasonable to assume that DSRC will be fully embedded within consumer phones,
thereby supporting widespread use of the proposed system.
Safe Intersection Crossing
Service requests will be implemented through integration with a real-time adaptive signal control
technology. The base service to be provided will ensure that a pedestrian has sufficient time to safely
cross an intersection. By customizing the mobile app to the individual traveler, a pedestrian will issue
personalized crossing requests to the traffic signal infrastructure, minimally communicating the desired
direction of the cross and the pedestrian’s nominal traveling speed and current location (at or
approaching the intersection). The traffic signal system will in turn use this provided information
together with its knowledge of intersection crossing distances to compute a required crossing time, and
then adopt this time duration as the appropriate phase minimum for the upcoming cycle. The pedestrian
will also be added to the intersection’s current model of approaching and waiting traffic, using the same
provided information to compute an intersection arrival time for approaching and waiting pedestrians.
Arada Locomate ME
Vol. I - Connecting Pedestrians with Disabilities to Adaptive Signal Control for Safe Crossing and Enhanced Mobility Intersection
Carnegie Mellon University
1
Part D – Vision
This project will connect pedestrian travelers with disabilities to
the traffic signal infrastructure (and by extension to nearby
connected vehicles), and use this connectivity to develop assistive
services for safe intersection crossing and increased traveler
mobility. These services will allow pedestrians to actively
influence traffic signal control decisions through communication
of personalized crossing intentions and constraints to the traffic
signal infrastructure, and to receive real-time intersection status
information that supports movement through the intersection.
Access to these services will be provided through a DSRC-
equipped smartphone, using an accessible user interface. For
purposes of this project, we will use a contemporary smartphone
that is coupled to an Arada Locomate ME device (pictured) as
the mobile platform for delivering our assistive services. The Locomate ME is a mobile DSRC device
with embedded applications for integrating with smartphones. It is integrated with GPS (better than 1
meter accuracy) and Bluetooth, and is physically designed as a smartphone “sleeve”. As technology and
standards evolve, it is reasonable to assume that DSRC will be fully embedded within consumer phones,
thereby supporting widespread use of the proposed system.
Safe Intersection Crossing
Service requests will be implemented through integration with a real-time adaptive signal control
technology. The base service to be provided will ensure that a pedestrian has sufficient time to safely
cross an intersection. By customizing the mobile app to the individual traveler, a pedestrian will issue
personalized crossing requests to the traffic signal infrastructure, minimally communicating the desired
direction of the cross and the pedestrian’s nominal traveling speed and current location (at or
approaching the intersection). The traffic signal system will in turn use this provided information
together with its knowledge of intersection crossing distances to compute a required crossing time, and
then adopt this time duration as the appropriate phase minimum for the upcoming cycle. The pedestrian
will also be added to the intersection’s current model of approaching and waiting traffic, using the same
provided information to compute an intersection arrival time for approaching and waiting pedestrians.
Arada Locomate ME
DSRCRoadsideUnit Surtrac
Processor
Pittsburgh deployment
Goal: Real-time optimization of urban road networks
Technical Approach: Collaborative Online Planning
–Decentralized control
– Coordinated Action
Scalable Urban Traffic Control
Advantages:
– Optimizes signals for the actual traffic on the road right now
– Coordination for networks, not just arterials
– Optimizes for multiple travel modes
– Scalable, incremental deployment
Scalable Urban Traffic Control
Baum Boulevard
Centre Avenue
Penn Avenue
Hig
hla
nd A
ve
Fifth Avenue
In the field ...
25% lower travel times 40% less time idling 30-40% fewer stops 21% lower emissions
Key Capabilities
· True real-time response to traffic conditions
· Manages multiple dominant flows
· Scalable to road networks of arbitrary size
· Multi-modal optimization
intelligent traffic signals
surtrac.net
@surtrac
Broader Deployment
•Beverly Hills
•Las Vegas
•Pittsburgh
•Atlanta
•Kane County
•Portland
•Orlando
•Scarborough
•Boston
•Implementing 2018-19 (4)
•Sales Cycle (14)
•Live (4)
•Sacramento
•Chattanooga
•Johns Creek
•St Albert, CAN
•Chapel Hill
•Scarsdale
•Hoboken•Newark
•Traverse City •Needham
•Manchester•Quincy
•Quaker Town
• Better sensing
• Use of mode, route
information
Integration with Connected
Vehicle Technology
Baum Boulevard
Centre Avenue
Penn Avenue
Hig
hla
nd A
ve
Fifth Avenue
In the field ...
25% lower travel times 40% less time idling 30-40% fewer stops 21% lower emissions
Key Capabilities
· True real-time response to traffic conditions
· Manages multiple dominant flows
· Scalable to road networks of arbitrary size
· Multi-modal optimization
intelligent traffic signals
surtrac.net
@surtrac
24 DSRC Equipped Ints.
The PedPal Prototype
• Universal design philosophy
• Multiple interaction modalities
□ interactive display,
voiceover, haptic
• Inter-operable with native
iPhone accessibility features
□ font scaling, zoom, ...
• Communication via
DSRC messages
(J2735 2016 Std)
• Message encoding and
decoding at each end
• Message transmission
through RSU and
sleeve
Overall System Architecture
Controller
Sensors
Intersection
DSRC
RSU
DSRC Sleeve
PedPal
Basic PedPal Crossing
Process
1.Approach signal (receive
MAP,SPAT)
2.Select street to cross
(send SRM, receive SSM)
3.When told to, start
crossing (countdown of
time remaining)
4. Indicate when crossing is
complete
• 12 volunteer participants□ Visually impaired, wheelchair
users, elderly, deaf individual
• Each engaged for a 90 -
120 minute session□ Pre-test survey / Training
□Multiple crossing tours around
the test intersection (with and
without the App)
□ Post-test survey
Year 1 Field Test
• User reaction was overwhelmingly positive□ Perceived usefulness varied according to specific user
disabilities and needs
• 3 basic advantages identified□ Announcement when it is time to cross
□Countdown of the time remaining
□ Extended crossing duration
• Some participants had usability problems□Mostly attributed to lack of experience with App and
use of test phones that weren’t configured properly
Results
• Need to better explain data privacy issues
• Having proper accessibility configuration
is key
• Crossing time may not be a useful
indicator of user safety and confidence
• Extension of crossing time can have side-
effects beneficial to vehicular traffic
Lessons Learned
• PedPal refinement and hardening□ Incorporation of user suggestions
□ Addition of a cellular communication option
• Extension to more complex intersections
• Localization for monitoring progress and
alerting when the user veers
• Sharing and exploiting route information□ Anticipate user arrival to minimize wait time
□ Adjust green time to help make bus connections
Year 2 Technical Objectives
• Continue with DSRC communication or
switch to cellular?□ Decision has been made to add a cellular V2I option (exploiting same DSRC
messaging infrastructure)
• How do we solve the tracking problem?□ Exploring the use of regional localization centers (nearest is at Univ. of Pgh)
• How much effort (if any) do we spend
integrating with 3rd party navigation/route
planning apps?□ Still looking for easy integration opportuinties (e.g., with Blindsquare)
Open Issues